UNIVERSITY OF TECHNOLOGY, SYDNEY FACULTY OF ENGINEERING

Introduction
Conventional rotating machines are very commonly used in industrial drive systems. They can be energized either directly by conventional AC and DC power supplies, or by power electronic converters/inverters, especially in varibale speed drives. According to the operational principles and power supplies, they can be classified as: DC machines, -- DC power supplies; Synchronous machines, -- speeds proportional to the supply frequency; and Induction machines, -- rotor emf and current are induced by rotating magnetic field

48531 Electromechanical Systems

Introduction to Conventional AC and DC Machines

Topics to cover: 1. Introduction 2. DC Machines 3. Synchronous Machines 4. Induction Machines

DC Machines
- Basic Principles: Induced emf

DC Machines
- Basic Principles: Electromagnetic Torque

Induced emf in elementary AC and DC machines

Uni-directional torque in an elementary DC machine

DC Machines
- Structures: Electromagnet Poles
Cut away view of a DC Machine

DC Machines
- Structures: Electromagnetic Poles (Cont.)

Cross section of a DC machine

DC Machines
- Structures: Permanent Magnet Poles
Dis-assembled view of a PM DC Machine

DC Machines
- Structures: Permanent Magnet Poles (Cont.)

Cross section of a PM DC Machine

DC Machines
- Structures: Permanent Magnet Poles (Cont.)

DC Machines
- Structures: Permanent Magnet Poles (Cont.)

Dis-assembled view of a PM DC Machine

Dis-assembled view of a PM DC Machine

DC Machines
- Windings A DC machine winding (lap)

DC Machines
- Induced Emf

Waveforms of induced emf

DC Machines
- Schematic Representation

DC Machines
- Field Circuit Connection

Symbol of a DC machine Four field circuit connections

DC Machines
- Emf and Torque Assume the flux linkage of a single turn coil due to the stator magnets sm = 2 m s in t varies with time sinusoidally: The induced emf then can be calculated by e = d = m c o s t dt The commutator rectifies AC into DC, and 1 3 2 2 therefore, ea = 2 m c o s td t = m

DC Machines
- Equivalent Circuit: Generator

For an armature winding of a great number of coils, the emf is

Ea = Ka mr
The electromagnetic power must balance the internal mechanical Pem = E a I a = Tem r power, or Therefore,
Te m = Pe m = Ka m Ia r

Equivalent circuit of a separate excited generator

DC Machines
- Equivalent Circuit: Motor Equivalent circuit of a separately excited DC motor

DC Machines
- DC Generators
Conditions for terminal voltage build-up: 1) Residual magnetism 2) Connection of armature winding to field winding such that the generated field aids the residual magnetic field; 3) The field circuit resistance smaller than the critical resistance

DC Machines
- DC Generators (Cont.)

DC Machines
- Drive Systems

External characteristics of different DC generators

Ward-Leonard System

DC Machines
- Drive Systems (Cont.)

DC Machines
- Torque/Speed Curves

Compound Motor Separately Excited Motor Shunt Motor Series Motor

0
Power Electronic Drive System

Torque/speed curves of different DC motors

Synchronous Machines
- Structures: Generators

Synchronous Machines
- Structures: Generators

Hydroelectric synchronous generator Hydroelectric synchronous generator

Synchronous Machines
- Structures: Generators

Synchronous Machines
- Structures: Generators

Stator of a turbine generator

Rotor of a turbine generator

Synchronous Machines
- Structures: Motors

Synchronous Machines
- Structures: Motors

Synchronous motor

Permanent magnet motors

Synchronous Machines
- Electrical and Mechanical Engles

Synchronous Machines
- Electrical and Mechanical Engles (Cont.)

=
Elementary two pole synchronous machine

P P m and = 2 m 2

Elementary four pole synchronous machine

Synchronous Machines
- Rotating Field (Cont.)

Synchronous Machines
- Rotating Field (Cont.)

Phase winding positions and phase currents

Positions of rotating field at different time

Synchronous Machines
F1 t=0

t= 2

- Rotating Field (Cont.)

F1 = Fa1 + Fb1 + Fc1 = 3Fm cos( t ) 2

Synchronous Machines
- Rotating Field (Cont.) The speed in electrical rad/s of the rotating field is

f =
In mechanical rad/s,
0

d 2 = = dt 2
P 2

/ 2

3 / 2

In rev/min, it is

f =

120 f = nf = 2 P

60f

Rotating mmf wave

Synchronous Machines
- Equivalent Circuit

Synchronous Machines
- Phasor Diagrams

jXs

Ra

Ia

jXs

Ra

Ia

Ea jXs I a
Va

Va jXs I a

Ea

Va

Ea

Ia

Va

Ia

Ea

(a) (b) Equivalent Circuit for synchronous (a) genarators and (b) motors (Xs>>Ra for large synchronous machines)

(a) (b) Phasor diagrams for synchronous (a) genarators and (b) motors

Synchronous Machines
- Generator Characteristics

Synchronous Machines
- Torque/Load Angle Curve

T =

3 E aV a sin f Xs

Synchronous Machines
- Power factor Compensation

Synchronous Machines
- Power factor Compensation (Cont.)
I a cos

Three Phase Power Supply

Is

I load I cmp Inductive Load

I a3

Im Icmp = Im( Iload )

( )

3
Ea sin

I a2

Va
2

Synchronous Condenser

3 jX s I a1

jX s I a3 jX s I a2 Ea2 Ea3

I a1 Ea1

Schematic illustration of power factor compensation using synchronous condensers

Phasoe diagram of power factor control by controling rotor excitation of a synchronous machine

Synchronous Machines
- V Curves

Synchronous Machines
- Speed Control Synchonous motor speed control: Variable Voltage and Variable Frequency (VVVF)

Induction Machines
- Structures

Induction Machines
- Structures

Cut away view of a wound rotor induction motor

Wound rotor of an induction motor

Induction Machines
- Structures (Cont.)

Induction Machines
- Structures (Cont.)

Cut away view of a squirrel cage induction motor

Squirrel cage rotor of an induction motor

Induction Machines
- Equivalent Circuit
I1 R1 jX l1 R'2 jX'l2 I'2

Induction Machines
- Torque/Speed Curve
R' V12 2 3 s T= 2 f 2 R2 ' R1 + + ( X l1 + X l 2 ') s

V1

E1

jX m

1-s R' 2 s

T equivalent circuit of induction motors where slip

s =

Induction Machines
- Speed Control

Induction Machines
- Speed Control (Cont.)

Methods for induction motor speed control: 1) Varying number of poles, 2) Varying terminal voltage, 3) Varying rotor winding resistance, 4) Rotor power recovery, and 5) Variable voltage variable frequency (VVVF).
Induction motor speed control by varying number of poles

Induction Machines
- Speed Control (Cont.)

Induction Machines
- Speed Control (Cont.)

Induction motor speed control by varying terminal voltage

Induction motor speed control by varying number of poles

Induction Machines
- Speed Control (Cont.)

Induction Machines
- Speed Control (Cont.)

Induction motor speed control by varying rotor winding resistance

Induction motor speed control by rotor power recovery

Induction Machines Induction Machines

- Speed Control (Cont.) - Speed Control (Cont.) Torque/speed curve of VVVF speed control

Induction motor speed control by variable voltage variable frequency (VVVF).